Copter: Finish RCMap fix.

All g.rc_X references changed to channel function pointers.

ArduCopter/Attitude.pde

@@ -154,7 +154,7 @@ static float get_pilot_desired_climb_rate(float throttle_control)
     }
 
     float desired_rate = 0.0f;
-    float mid_stick = g.rc_3.get_control_mid();
+    float mid_stick = channel_throttle->get_control_mid();
     float deadband_top = mid_stick + g.throttle_deadzone;
     float deadband_bottom = mid_stick - g.throttle_deadzone;
 
@@ -190,7 +190,7 @@ static float get_non_takeoff_throttle()
 
 static float get_takeoff_trigger_throttle()
 {
-    return g.rc_3.get_control_mid() + g.takeoff_trigger_dz;
+    return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
 }
 
 // get_throttle_pre_takeoff - convert pilot's input throttle to a throttle output before take-off
@@ -213,7 +213,7 @@ static float get_throttle_pre_takeoff(float input_thr)
     float out_max = get_non_takeoff_throttle();
 
     if ((g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0) {
-        in_min = g.rc_3.get_control_mid();
+        in_min = channel_throttle->get_control_mid();
     }
 
     float input_range = in_max-in_min;

ArduCopter/control_acro.pde

@@ -25,10 +25,10 @@ static void acro_run()
     }
 
     // convert the input to the desired body frame rate
-    get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
+    get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
 
     // get pilot's desired throttle
-    pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
+    pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in);
 
     // run attitude controller
     attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);

ArduCopter/control_althold.pde

@@ -38,20 +38,20 @@ static void althold_run()
 
     // get pilot desired lean angles
     // To-Do: convert get_pilot_desired_lean_angles to return angles as floats
-    get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
+    get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch);
 
     // get pilot's desired yaw rate
-    target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+    target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
 
     // get pilot desired climb rate
-    target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
+    target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
     target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
 
     // get takeoff adjusted pilot and takeoff climb rates
     takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
 
     // check for take-off
-    if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
+    if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) {
         if (!takeoff_state.running) {
             takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
         }

ArduCopter/control_auto.pde

@@ -170,7 +170,7 @@ static void auto_wp_run()
     float target_yaw_rate = 0;
     if (!failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }
@@ -225,8 +225,8 @@ static void auto_spline_run()
     // process pilot's yaw input
     float target_yaw_rate = 0;
     if (!failsafe.radio) {
-        // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        // get pilot's desired yaw rat
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }

ArduCopter/control_circle.pde

@@ -43,13 +43,13 @@ static void circle_run()
     // process pilot inputs
     if (!failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             circle_pilot_yaw_override = true;
         }
 
         // get pilot desired climb rate
-        target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
+        target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
 
         // check for pilot requested take-off
         if (ap.land_complete && target_climb_rate > 0) {

ArduCopter/control_flip.pde

@@ -50,7 +50,7 @@ static bool flip_init(bool ignore_checks)
     }
 
     // ensure roll input is less than 40deg
-    if (abs(g.rc_1.control_in) >= 4000) {
+    if (abs(channel_roll->control_in) >= 4000) {
         return false;
     }
 

ArduCopter/control_guided.pde

@@ -231,7 +231,7 @@ static void guided_pos_control_run()
     float target_yaw_rate = 0;
     if (!failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }
@@ -261,7 +261,7 @@ static void guided_vel_control_run()
     float target_yaw_rate = 0;
     if (!failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }
@@ -300,7 +300,7 @@ static void guided_posvel_control_run()
 
     if (!failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }

ArduCopter/control_loiter.pde

@@ -47,20 +47,20 @@ static void loiter_run()
         update_simple_mode();
 
         // process pilot's roll and pitch input
-        wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
+        wp_nav.set_pilot_desired_acceleration(channel_roll->control_in, channel_pitch->control_in);
 
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
 
         // get pilot desired climb rate
-        target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
+        target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
         target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
 
         // get takeoff adjusted pilot and takeoff climb rates
         takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
 
         // check for take-off
-        if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
+        if (ap.land_complete && (takeoff_state.running || channel_throttle->control_in > get_takeoff_trigger_throttle())) {
             if (!takeoff_state.running) {
                 takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
             }

ArduCopter/control_poshold.pde

@@ -156,17 +156,17 @@ static void poshold_run()
         update_simple_mode();
 
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
 
         // get pilot desired climb rate (for alt-hold mode and take-off)
-        target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
+        target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
         target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
 
         // get takeoff adjusted pilot and takeoff climb rates
         takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
 
         // check for take-off
-        if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
+        if (ap.land_complete && (takeoff_state.running || channel_throttle->control_in > get_takeoff_trigger_throttle())) {
             if (!takeoff_state.running) {
                 takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
             }

ArduCopter/control_rtl.pde

@@ -143,7 +143,7 @@ static void rtl_climb_return_run()
     float target_yaw_rate = 0;
     if (!failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }
@@ -199,7 +199,7 @@ static void rtl_loiterathome_run()
     float target_yaw_rate = 0;
     if (!failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
         if (!is_zero(target_yaw_rate)) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }

ArduCopter/control_sport.pde

@@ -28,7 +28,7 @@ static void sport_run()
     // if not armed or throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || ap.throttle_zero) {
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(g.rc_3.control_in)-throttle_average);
+        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
         return;
     }
 
@@ -61,17 +61,17 @@ static void sport_run()
     }
 
     // get pilot's desired yaw rate
-    target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
+    target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
 
     // get pilot desired climb rate
-    target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
+    target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
     target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
 
     // get takeoff adjusted pilot and takeoff climb rates
     takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
 
     // check for take-off
-    if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
+    if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) {
         if (!takeoff_state.running) {
             takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
         }

ArduCopter/land_detector.pde

@@ -62,7 +62,7 @@ static void update_throttle_thr_mix()
 {
     if (mode_has_manual_throttle(control_mode)) {
         // manual throttle
-        if(!motors.armed() || g.rc_3.control_in <= 0) {
+        if(!motors.armed() || channel_throttle->control_in <= 0) {
             motors.set_throttle_mix_min();
         } else {
             motors.set_throttle_mix_mid();

ArduCopter/motors.pde

@@ -719,14 +719,14 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)
         // check throttle is not too high - skips checks if arming from GCS in Guided
         if (!(arming_from_gcs && control_mode == GUIDED)) {
             // above top of deadband is too always high
-            if (g.rc_3.control_in > get_takeoff_trigger_throttle()) {
+            if (channel_throttle->control_in > get_takeoff_trigger_throttle()) {
                 if (display_failure) {
                     gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
                 }
                 return false;
             }
             // in manual modes throttle must be at zero
-            if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && g.rc_3.control_in > 0) {
+            if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && channel_throttle->control_in > 0) {
                 if (display_failure) {
                     gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
                 }
@@ -822,7 +822,7 @@ static void lost_vehicle_check()
     }
 
     // ensure throttle is down, motors not armed, pitch and roll rc at max. Note: rc1=roll rc2=pitch
-    if (ap.throttle_zero && !motors.armed() && (g.rc_1.control_in > 4000) && (g.rc_2.control_in > 4000)) {
+    if (ap.throttle_zero && !motors.armed() && (channel_roll->control_in > 4000) && (channel_pitch->control_in > 4000)) {
         if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
             if (AP_Notify::flags.vehicle_lost == false) {
                 AP_Notify::flags.vehicle_lost = true;

ArduCopter/switches.pde

@@ -303,7 +303,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                 }
 
                 // do not allow saving the first waypoint with zero throttle
-                if((mission.num_commands() == 0) && (g.rc_3.control_in == 0)){
+                if((mission.num_commands() == 0) && (channel_throttle->control_in == 0)){
                     return;
                 }